@article {3640, title = {Exact Task Execution in Highly Under-Actuated Soft Limbs: An Operational Space Based Approach}, journal = {IEEE Robotics and Automation Letters}, volume = {Volume: 4 , Issue: 3 , July 2019}, year = {2019}, month = {04/2019}, author = {C. Della Santina and L. Pallottino and D. Rus and A. Bicchi} }